The million-dollar dividend will be deposited into the family's bank account at a later date.
Haco Industries is one of the region's leading FMCG manufacturers.
Kirubi died last year at the age of 80 following a four-year battle with illness.
Centum is a leading East African investment company with investments in real estate and private-equity assets.
Centum Investment Company has declared a loss of $12.6 million at the end of its 2021 accounting year.
The multimillionaire industrialist held a 30.08-percent stake in the leading investment group.
Andrew Musangi is an experienced lawyer and husband to Mary-Ann Musang, Kirubi’s oldest daughter.
The gains in his stake can be attributed to the increase in the company's share price on the Nairobi Stock Exchange.
According to a statement published by the businessman's family, Kirubi died at his home in Nairobi at 1 pm.